Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 148

■Restoration method (1)
The new value of the current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is
calculated based on the current value after composite main shaft gear/auxiliary shaft current value.
• Main shaft
Current value per cycle after main shaft gear=Main shaft gear ratio×Current value after composite main shaft gear
• Auxiliary shaft
Current value per cycle after auxiliary shaft gear=Auxiliary shaft gear ratio×Auxiliary shaft current value
■Restoration method (2)
The travel value from the last synchronous control session is reflected to the current value per cycle after main shaft gear/
current value per cycle after auxiliary shaft gear.
• Main shaft
Current value per cycle after main shaft gear=Current value per cycle after main shaft gear at the last synchronous control
session+Main shaft gear ratio×Amount of change of current value after composite main shaft gear from the last
synchronous control session
• Auxiliary shaft
Current value per cycle after auxiliary shaft gear=Current value per cycle after auxiliary shaft gear at the last synchronous
control session+Auxiliary shaft gear ratio×Amount of change of auxiliary shaft current value from the last synchronous
control session
The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear at the last synchronous
control session is restored when "0: Invalid" is set in "[Pr.400] Main input axis No. (R: D42640+160n/Q: D15000+150n)" /
"[Pr.418] Auxiliary shaft axis No. (R: D42664+160n/Q: D15024+150n)", or when a servo input axis or a synchronous encoder
axis as the main input axis/auxiliary shaft is not connected.
Cam axis position at synchronous control start
The cam axis position is composed of the relationship of 3 positions "Cam axis current value per cycle", "Cam reference
position" and "Cam axis current feed value". One of positions can be restored by defining 2 positions when starting
synchronous control.
Cam axis current value per cycle
Cam axis current feed value
Cam reference position
Select from 3 objects as follows in "[Pr.462] Cam axis position restoration object (R: D42742+160n/Q: D15102+150n)" which
position is to be restored. (Page 151 Cam Axis Position Restoration Method)
• Cam axis current value per cycle restoration
• Cam reference position restoration
• Cam axis current feed value restoration
Various parameters need to be set for the cam axis position restoration as shown in the table below. Refer to synchronous
control initial position parameters for details of the settings. (Page 148 Synchronous Control Initial Position Parameters)
7 SYNCHRONOUS CONTROL INITIAL POSITION
146
7.1 Synchronous Control Initial Position